Implementing model-based adaptive controllers for robot manipulators with a refined model
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 701 - 707, July, 1993
Abstract
A model-based control scheme for robot manipulators employing a variable structure control law has been found to perform well, provided that the design parameters are carefully chosen. A refinement of the system model of this original scheme in which the actuator dynamics is taken into consideration is studied. Practical experiments are carried out on a commercial revolute-joint robot manipulator.
BibTeX
@conference{Tso-1993-13530,author = {S. K. Tso and P. L. Law and Yangsheng Xu and Heung-Yeung Shum},
title = {Implementing model-based adaptive controllers for robot manipulators with a refined model},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1993},
month = {July},
volume = {2},
pages = {701 - 707},
}
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